CHAPTER 2

MODELING IN
FREQUENCY DOMAIN (Part 3)
BEEE2364
CONTROL PRINCIPLES

HAFEZ JTKEK FTKEE

 Learning Outcome
After completing Chapter 2 (Part 3), the student will be able to:

• find the transfer function for the translational and

rotational mechanical system.

HAFEZ JTKEK FTKEE

 Mechanical System TF
• Mechanical systems, like electrical network, can be have 3
passive, linear components: spring, mass/inertia, viscous
damper.
• Spring and mass - energy-storage elements; viscous damper -
dissipates energy.
• Two types of mechanical system:
1. Translational
2. Rotational

HAFEZ JTKEK FTKEE

 Mechanical System TF
(Cont.)
Procedure to find mechanical system TF:
1. List the forces acting on the mass (draw the free-body
diagram).
2. Convert the forces into frequency-domain representation.
3. Derive the equations of motion and obtain the transfer
function.

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF (Cont.)
Case 1: One equation of motion

Output

Input

𝑋 𝑠
Transfer function:
𝐹 𝑠

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF (Cont.)
Step 1: Draw free-body diagram

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF (Cont.)
Step 2: Convert to frequency-domain

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF (Cont.)
Step 3: Derive the equations of motion and obtain transfer function

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF (Cont.)
Case 2: Two degrees of freedom
Output
Input

𝑋2 𝑠
Transfer function:
𝐹 𝑠
HAFEZ JTKEK FTKEE
 Translational Mechanical
System TF (Cont.)
Step 1&2: Draw free-body diagram & convert to freq domain

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF (Cont.)
Step 3: Derive the equations of motion and obtain transfer function

In matrix form:
𝑀1 𝑠 2 + 𝑓𝑣1 + 𝑓𝑣3 𝑠 + 𝐾1 + 𝐾2 −(𝑓𝑣3 𝑠 + 𝐾2 ) 𝑋1 (𝑠) 𝐹(𝑠)
=
−(𝑓𝑣3 𝑠 + 𝐾2 ) 𝑀2 𝑠 2 + 𝑓𝑣2 + 𝑓𝑣3 𝑠 + 𝐾2 + 𝐾3 𝑋2 (𝑠) 0

HAFEZ JTKEK FTKEE

 Translational Mechanical
System TF (Cont.)
Step 3: Derive the equations of motion and obtain transfer function (Cont.)
𝑀1 𝑠 2 + 𝑓𝑣1 + 𝑓𝑣3 𝑠 + 𝐾1 + 𝐾2 −(𝑓𝑣3 𝑠 + 𝐾2 ) 𝑋1 (𝑠) 𝐹(𝑠)
=
−(𝑓𝑣3 𝑠 + 𝐾2 ) 𝑀2 𝑠 2 + 𝑓𝑣2 + 𝑓𝑣3 𝑠 + 𝐾2 + 𝐾3 𝑋2 (𝑠) 0

𝑋2 𝑠
Transfer function: 𝐺 𝑠 =
𝐹 𝑠

𝑀1 𝑠 2 + 𝑓𝑣1 + 𝑓𝑣3 𝑠 + 𝐾1 + 𝐾2 𝐹(𝑠)

−(𝑓𝑣3 𝑠 + 𝐾2 ) 0
𝑋2 𝑠 = Cramer’s rule
𝑀1 𝑠 2 + 𝑓𝑣1 + 𝑓𝑣3 𝑠 + 𝐾1 + 𝐾2 −(𝑓𝑣3 𝑠 + 𝐾2 )
−(𝑓𝑣3 𝑠 + 𝐾2 ) 𝑀2 𝑠 2 + 𝑓𝑣2 + 𝑓𝑣3 𝑠 + 𝐾2 + 𝐾3

𝑋2 𝑠 𝑓𝑣3 𝑠 + 𝐾2
=
𝐹(𝑠) 𝑀1 𝑠 2 + 𝑓𝑣1 + 𝑓𝑣3 𝑠 + 𝐾1 + 𝐾2 −(𝑓𝑣3 𝑠 + 𝐾2 )
−(𝑓𝑣3 𝑠 + 𝐾2 ) 𝑀2 𝑠 2 + 𝑓𝑣2 + 𝑓𝑣3 𝑠 + 𝐾2 + 𝐾3

HAFEZ JTKEK FTKEE

 Rotational Mechanical
System TF

HAFEZ JTKEK FTKEE

 Rotational Mechanical
System TF (Cont.)
Case 1: Two equations of motion

Input Output

Physical system Schematic

𝜃2 𝑠
Transfer function:
𝑇 𝑠

HAFEZ JTKEK FTKEE

 Rotational Mechanical
System TF (Cont.)
Step 1&2: Draw free-body diagram & convert to freq domain

Equations of motion 2:
Equations of motion 1:

HAFEZ JTKEK FTKEE

 Rotational Mechanical
System TF (Cont.)
Step 3: Derive the equations of motion and obtain transfer function

𝐽1 𝑠 2 + 𝐷1 𝑠 + 𝐾 −𝐾 𝜃1 (𝑠) 𝑇(𝑠)
=
−𝐾 𝐽2 𝑠 2 + 𝐷2 𝑠 + 𝐾 𝜃2 (𝑠) 0
𝜃2 𝑠
Transfer function G s =
𝑇 𝑠

𝐽1 𝑠 2 + 𝐷1 𝑠 + 𝐾 𝑇(𝑠)
𝜃2 𝑠 = −𝐾 0 Cramer’s rule
2
𝐽1 𝑠 + 𝐷1 𝑠 + 𝐾 −𝐾
−𝐾 𝐽2 𝑠 2 + 𝐷2 𝑠 + 𝐾

𝜃2 𝑠 𝐾
=
𝑇(𝑠) 𝐽1 𝐽2 𝑠 4 + 𝐷1 𝐽2 + 𝐷2 𝐽1 𝑠 3 + 𝐷1 𝐷2 + 𝐽1 𝐾 + 𝐽2 𝐾 𝑠 2 + (𝐷1 𝐾 + 𝐷2 𝐾)𝑠 − 𝐾 2

HAFEZ JTKEK FTKEE